Method and apparatus for automated transforming tooling systems

ABSTRACT

An automated transforming tooling system apparatus and method for shuttling a workpiece to and from an industrial operation. The system includes a workstation for complementarily engaging and securing the workpiece, and at least one holder removably secures at least on end effector tool to the workstation. At least one transfer bar is movably positioned with respect to the workstation. At least one automated transforming tooling assembly is connected to the transfer bar and has a plurality of links adjustably connected by motorized joints to automatically position the automated transforming tooling assembly. An automated tool changer is connected to the automated transforming tooling assembly and releasably engages the end effector tool between a disengaged position, wherein the end effector tool is disengaged from the automated tool changer, and an engaged position, wherein the end effector tool is engaged by the automated tool changer.

CROSS-REFERENCE TO RELATED APPLICATIONS

The application claims the benefit of U.S. Provisional PatentApplication Ser. No. 62/793,977 filed on Jan. 18, 2019, which isincorporated in its entirety by reference.

TECHNICAL FIELD

The present disclosure relates to automated transforming toolingsystems, and more particularly, a method and apparatus for automatedtransforming tooling systems having automated tool changers thatautomatically adjust to different workpiece structures when shuttlingworkpieces to successive workstations.

BACKGROUND

In the manufacturing industry, such as the automotive industry, variousmanufacturing and assembly operations are performed on numerouslyconfigured workpieces. Such operation not only involve manufacturing andassembly operations being performed on the workpieces, but suchoperations also require handling and shuttling the workpieces betweenwork stations. In one such example, sheet metal panels may be formed andshaped by stamping the sheet metal panels in stamping presses. Thestamping presses typically include numerous, successive workstationsthat progressively stamp various shapes into the sheet metal panelsuntil the workpiece reaches its final form. Each workstation of thestamping press provides a press die having a top and bottom press die.The bottom press die receives one or more workpieces in a complementary,supportive manner while the top press die is lowered onto the workpieceand the bottom press die with force to stamp a form or shape into theworkpiece. The top press die may by lifted and lowered to engage theworkpiece and the bottom press die numerous times until the final shapeis formed into the workpiece. Once the desired shape of the workpiece isobtained for the particular stamping press workstation, the workpiece ismoved to the next successive stamping press workstation where furtherforms and shapes are stamped into the workpiece.

Various automated handling and tooling designs have been developed toshuttle the workpieces between successive manufacturing and assemblyworkstations. For instance, in stamping presses, one or more transferpress bars or rails may be located adjacent to or overhead of thestamping press dies to move the workpieces between stamping pressworkstations. Automated manipulators, such as robotic arms, may also beutilized to shuttle the workpieces between stamping press workstations.Both transfer press bars and automated manipulators have toolingassemblies attached thereto wherein the tooling assemblies are designedto engage and disengage the workpieces for moving the workpieces betweenstamping press workstations. The transfer press bars are typicallydesigned to cycle back and forth in dedicated vertical and horizontaldirections such that the transfer press bars can transfer the workpiecesbetween adjacent stamping press workstations. Automated manipulators mayutilize multiple degrees of programmable movement for moving theworkpieces between stamping press workstations. Either way, once thetooling assemblies engage the workpiece, the transfer press bars or theautomated manipulators raise the workpiece from the bottom press die andmove the workpiece to an adjacent stamping press workstation where theworkpiece is loaded into the bottom press die. Once the toolingassemblies release the workpiece into the bottom press die, the transferpress bars or the automated manipulator cycle back to the previousstamping press workstation where the cycle begins again with the nextworkpiece.

In order to accommodate the many types of manufacturing and assemblyoperations, the tooling assemblies can take on many differentconfigurations. In continuing with the stamping press example, thetooling assemblies may be connected to the transfer press bar or theautomated manipulator at one end of the tooling assembly while having anend effector tool, such as a vacuum cup or a gripper, connected to theopposite end of the tooling assembly. The tooling assemblies arepreferably designed with flexibility and adjustability in mind so thatthe tooling assemblies can adjust the position of the end effector toolsto properly engage the workpiece. Previous tooling assemblies haveutilized various sections of tubing interconnected by various rigidmounts for fixturing a variety of workpieces, but such designs typicallyprovide little or no adjustment in the tooling assembly. Other designshave utilized extrusions, slide mounts, ball mounts, and serrated teeththereby allowing the sections of the tubing to be adjusted in variousdirections, including linearly and radially. However, such designs havea limited amount of flexibility and range in that such designs typicallyonly provide one degree or axis of adjustment.

Although the tooling assemblies may be adjusted to have their endeffector tooling properly engage the workpiece, adjusting numeroustooling assemblies for a particular workpiece is a timely and tediousprocess. Thus, most tooling assemblies and their associated end effectortooling are commonly left in a predetermined position, such that whenthe stamping press dies are exchanged to form different shapedworkpieces, the tooling assemblies and their end effector tooling arealso exchanged for different positioned tooling assemblies and endeffector tooling as opposed to adjusting the position of the sametooling assemblies and end effector tooling. Different positionedtooling assemblies and end effector tooling are then typically createdfor each shaped workpiece. The tooling assemblies are removablyconnected to the transfer rails or the automated manipulators to providefor simple and quick replacement of the tooling assemblies and the endeffector tooling. However, since a different set of tooling assembliesand end effector tooling must be maintained for each differently shapedworkpiece, numerous tooling assemblies and end effector tooling must bepurchased, stored, and maintained, thereby creating inefficiencies in anindustrial environment.

It would be desirable to provide an automated transforming toolingsystem that adjusted for any configuration of workpiece without havingto purchase, store, and maintain multiple sets of prepositioned toolingassemblies and end effector tooling.

SUMMARY

The present disclosure provides an automated transforming tooling systemapparatus for shuttling a workpiece to and from an industrial operationhaving a workstation for complementarily engaging and securing theworkpiece. The workstation has at least one holder for removablysecuring at least one end effector tool to the workstation. At least onetransfer bar is positioned adjacent the workstation and movable withrespect to the workstation, and at least one automated transformingtooling assembly is connected to the at least one transfer bar whereinthe at least one automated transforming tooling assembly has a pluralityof links adjustably connected by motorized joints to automaticallyposition the automated transforming tooling assembly in a predeterminedposition. An automated tool changer is connected to a free end of eachof the at least one automated transforming tooling assembly, and theautomated tool changer releasably engages the at least one end effectortool between a disengaged position, wherein the at least one endeffector tool is disengaged from the automated tool changer and securedin the at least one holder of the workstation, and an engaged position,wherein the at least one end effector tool is engaged by the automatedtool changer such that the at least one automated transforming toolingassembly moves toward the workpiece to allow the at least one endeffector tool to engage the workpiece and move the workpiece to and fromthe workstation through the movement of the transfer bar. A manipulatoris connected to the transfer bar for moving the transfer bar betweenpredetermined positions. A central processing unit communicates with theat least one transforming tooling assembly, and the central processingunit controls the operation of the motorized joints to determine theposition of the links. The at least one transforming tooling assemblyeach has clutches to lock and unlock the motorized joints from movingprior to, during, and after the movement of the motorized joints. Anautomated tool changing device releasably connects each of the at leaston one transforming tooling assembly to the end effector tool. Theautomated tool changing device has a quick-change tooling receiverconnected to each of the at least one transforming tooling assembly anda quick-change tooling adapter connected to the end effector toolingwherein the quick-change tooling receiver and the quick-change toolingadapter may releasably engage one another to releasably connect the endeffector tooling to the at least one transforming tooling assembly. Theat least one holder on the workstation has an L-shaped bracket with anopen-ended slot for removably receiving and holding the end effectortooling. A recess is formed within the workstation wherein at least aportion of the L-shaped bracket is disposed within the recess. Themanipulator may comprise a programmable robotic arm.

The present disclosure also provides an automated transforming toolingsystem method for shuttling a workpiece to and from an industrialoperation. The method includes complementarily engaging and securing theworkpiece to a workstation; securing at least one end effector tool in aholder connected to the workstation; movably positioning at least onetransfer bar with respect the workstation; connecting at least oneautomated transforming tooling assembly to the at least one transfer barwherein the at least one automated transforming tooling assembly has aplurality of links adjustably connected by motorized joints toautomatically position the automated transforming tooling assembly in apredetermined position; connecting an automated tool changer to a freeend of each of the at least one automated transforming tooling assembly,and releasably engaging the automated tool changer to the at least oneend effector tool between a disengaged position, wherein the at leastone end effector tool is disengaged from the automated tool changer andsecured in the at least one holder of the workstation, and an engagedposition, wherein the at least one end effector tool is engaged by theautomated tool changer such that the at least one automated transformingtooling assembly moves toward the workpiece to allow the at least oneend effector tool to engage the workpiece and move the workpiece to andfrom the workstation through the movement of the transfer bar.

The method further provides connecting a manipulator to the transfer barfor moving the transfer bar between predetermined positions;communicating signals from a central processing unit to the at least onetransforming tooling assembly for controlling the operation of themotorized joints and determining the position of the links; providingthe at least one transforming tooling assembly with clutches to lock andunlock the motorized joints from moving prior to, during, and after themovement of the motorized joints; releasably connecting an automatedtool changing device to each of the at least on one transforming toolingassembly and to the end effector tool; the automated tool changingdevice having a quick-change tooling receiver connected to each of theat least one transforming tooling assembly and a quick-change toolingadapter connected to the end effector tooling wherein the quick-changetooling receiver and the quick-change tooling adapter may releasablyengage one another to releasably connect the end effector tooling to theat least one transforming tooling assembly; providing the at least oneholder on the workstation with an L-shaped bracket having an open-endedslot for removably receiving and holding the end effector tooling;forming a recess within the workstation wherein at least a portion ofthe L-shaped bracket is disposed within the recess; and providing aprogrammable robotic arm as the manipulator.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is best understood from the following detaileddescription when read in conjunction with the accompanying drawings. Itis emphasized that, according to common practice, the various featuresof the drawings are not to-scale. On the contrary, the dimensions of thevarious features are arbitrarily expanded or reduced for clarity.

FIG. 1 is a perspective view of an automated transforming tooling systemhaving side transfer press rails with transforming tooling assembliesdisengaged from the end effector tools and workpieces:

FIG. 2 is a perspective view of the automated transforming toolingsystem having side transfer press rails with the transforming toolingassemblies engaged with the end effector tools and workpieces;

FIG. 3 is a side perspective view of the transforming tooling assembliesand the end effector tools of the automated transforming tooling system;

FIG. 4 is a side plan view of the automated tool changing device of theautomated transforming tooling system;

FIG. 5 is a perspective view of the automated transforming toolingsystem shown in FIG. 1 ;

FIG. 6 is a perspective view of an automated transforming tooling systemutilizing an overhead transfer press rail;

FIG. 7 is a perspective view of an automated transforming tooling systemof FIG. 6 utilizing an overhead transfer press rail with thetransforming tooling assemblies engaging the end effector tools in theL-shaped brackets on the bottom press die;

FIG. 8 a perspective view of an automated transforming tooling system ofFIG. 6 utilizing an overhead transfer press rail with the transformingtooling assemblies disengaged from the end effector tools in theL-shaped brackets on the bottom press die;

FIG. 9 is a perspective view of the automated transforming toolingsystem on an overhead transfer rail with the tooling assemblies and endeffector tools engaged with the workpieces; and

FIG. 10 is a perspective view of an automated transforming toolingsystem utilizing a transfer press rail connected to a roboticmanipulator.

DETAILED DESCRIPTION

The present disclosure provides an automated transforming tooling systemmethod and apparatus to accommodate the manufacturing, assembling, andhandling of variously configured workpieces for various types ofindustrial operations. Although the present disclosure references anautomated transfer press assembly, the present disclosure is not limitedto an automated transfer press assembly, but rather, the presentdisclosure may be utilized in conjunction with any manufacturing,assembling, or handling operation that benefits from the use of anautomated transforming tooling system as provided in the presentdisclosure.

With reference to FIGS. 1-10 , the present disclosure provides a methodand apparatus for an automated transforming tooling system 100 having anautomatic tool changing device 112. The automated transforming toolingsystem 100 may be utilized within an industrial stamping press (notshown), although the automated transforming tooling system 100 may beutilized in conjunction with any type of industrial operation. In theindustrial stamping press, a workpiece 106 is stamped into progressiveshapes and forms within at least one stamping press workstation 102 ofthe stamping press. The automated transforming tooling system 100 may beutilized in conjunction with at least one transfer press rail or bar 108wherein at least one automated transforming tooling assembly 110 isconnected to the transfer press rail 108. The automated transformingtooling assembly 110 may be removably connected to end effector tooling114 using the automatic tool changing device 112. The end effectortooling 114 removably engages the workpiece 106 for transferring theworkpiece 106 between the stamping press workstations 102 of thestamping press upon the transfer press rail 108 cyclically movingbetween adjacent stamping press workstations 102. Although the presentdisclosure describes the automated transforming tooling system 100 andautomated tooling changing device 112 being utilized in an industrialstamping press, it should be noted that the present disclosure is notlimited to industrial stamping presses or transfer presses, but rather,the automated transforming tooling system 100 could be utilized in anyindustrial environment or application where the present disclosure wouldbe advantageous, such as industrial applications that require variouspositioning of the end effector tooling 114 for handling andtransporting various shaped workpieces 106.

The method and apparatus of the automated transforming tooling system100 of the present disclosure may be utilized in conjunction with thestamping press, wherein the stamping press has consecutive andprogressive stamping press workstations 102. Each stamping pressworkstation 102 provides a stamping press die having a bottom press die104 and a top press die (not shown). The bottom press die 104 has aconfiguration that complementarily receives the workpiece 106. Theworkpiece 106 may be fabricated from sheet metal panels or other similarmaterials wherein the sheet metal panels can be configured and formedinto a predetermined shape through the stamping process. However, itshould be noted that the workpiece 106 could be fabricated in differentconfigurations and from different materials should the automatedtransforming tooling system 100 be utilized in conjunction with otherindustrial operations besides stamping. When the workpiece 106 ispositioned in the bottom press die 104, the top press die moves towardand presses against the workpiece 106 and the bottom press die 104 withforce which is commonly referred to as “stamping”. The top press die hasa shape formed therein that complementarily engages the bottom press die104 to stamp the desired shape into the workpiece 106. The pressing ofthe top press die onto the workpiece 106 and the bottom press die 104may occur once or numerous times until the desired shape of theworkpiece 106 is obtained. Once the desired shape of the workpiece 106is obtained for the particular stamping press workstation 102, theworkpiece 106 is then transferred to an adjacent stamping pressworkstation 102 wherein the workpiece 106 is again stamped in a similarmanner as previously described. This process continues throughconsecutive and progressive stamping press workstations 102 until thefinal form of the workpiece 106 is obtained.

To shuttle the workpiece 106 between successive stamping pressworkstations 102, automated transforming tooling assemblies 110 areconnected to the at least one transfer press rail 108. The position ofthe transfer press rail 108 may assume different configurations. Forinstance, in a nonlimiting disclosure, a tandem pair of the transferpress rails 108 may be substantially parallel and positioned on oppositesides of the bottom press die 104, as shown in FIGS. 1-5 , a singletransfer press rail 108 may be mounted overhead of the bottom press die104, as shown in FIGS. 6-8 , or a single transfer bar or transfer pressrail 140 may be connected to a robotic manipulator 142 for three axismovement of the single transfer press rail 140 to and from the bottompress die 104, as shown in FIG. 10 . In the configuration having thepair of transfer press rails 108, each of the automated transformingtooling assemblies 110 are mounted on interior, opposing sides of theadjacent pair of the transfer press rails 108. In the configuration havea single, overhead transfer press rail 108, the transfer press toolingassemblies 110 are mounted on opposite sides of the single overheadtransfer press rail 108. In the configuration attached to the roboticmanipulator 142, the automated transforming tooling assemblies 110 maybe mounted to the bottom 144 of the transfer press rail 140. Theautomated transforming tooling assemblies 110 removably engage theworkpiece 106, and the transfer press rails 108 cycle or move theautomated transforming tooling assemblies 110, along with the workpiece106, between adjacent stamping press workstations 102.

In order for the automated transforming tooling assemblies 110 to engagethe workpiece 106 in a desired location on the workpiece 106, theautomated transforming tooling assemblies 110 have a base 116 that isfixedly connected to a side 119 of the transfer press rail 108 or thebottom 144 of the transfer press rail 140. Electrical and pneumaticlines (not shown) may extend through and inside the transfer press rails108, 140 and connect to electrical and pneumatic fittings (not shown) inthe base 116 of the automated transforming tooling assemblies 110.Electric and pneumatic lines may extend through the automatedtransforming tooling assemblies 110 to the end effector tooling 114. Theelectrical and pneumatic lines are connected to a supply of electricalpower and pressurized air to provide the automated transforming toolingassemblies 110 and the end effector tooling 114 with the appropriateelectrical and pneumatic power. Access to the electrical and pneumaticlines may be provided through access plates 120 and boxes 122 located onthe outer sides 124 of the transfer press rail 108.

To provide accurate positioning and strong support of the end effectortooling 114, the automated transforming tooling assembly 110 provides aplurality of links or arms 126 that are rotatably connected at theirends by joints 128, as similarly described and incorporated by referencetherein to U.S. Pat. No. 10,124,486. The links 126 and the joints 128start at the base 116 and extend outward from the transfer press rail108, 140 where the automated transforming tooling assembly 110 isconnected to the end effector tooling 114 for engaging the workpiece106. Each joint 128 is automatically positioned by a motor (not shown)that is disposed within and associated with each joint 128. The motorprovides rotational adjustment of the links 126 at the joints 128 toprovide multi-axis positioning of the end effector tooling 114 at theend of the automated transforming tooling assembly 110. In a nonlimitingdisclosure, the automated transforming tooling assembly 110 has fivelinks 126 and five motorized joints 128, but the number of links 126 andjoints 128 is not limiting. The motors may be controlled by a centralprocessing unit (CPU), programmable controller, or a computer (notshown) to allow controlled positioning of the joints 128 and the links126 thereby providing a predetermined position of the end effectortooling 114. Software may be utilized in conjunction with the CPU,programmable controller, or computer to provide predeterminedcoordinates or positioning of the links 126 and the joints 128 of theautomated transforming tooling assembly 110 corresponding with theposition of the end effector tooling 114 for each configured workpiece106. Since the joints 128 may be kept in the same position for a numberof operation cycles, the joints 128 each include a releasable clutch(not shown) that is disengaged to allow adjustment of the joints 128 byusing their respective motors, and then engaged to prevent movement atthe joints 128 in between adjustments to its position. The automatedtransfer press tooling assemblies 110 allow for automatic positioning ofthe joints 128 thereby allowing the end effector tooling 114 to beaccurately positioned at a predetermined position and held rigidly overa large number of operation cycles so that the end effector tooling 114is placed with a high degree of precision. This accurate positioning ofthe automated transfer press tooling assemblies 110 allows for use ofthe automatic tooling changing device 112, as will be described later,as well as the loading and unloading of the workpiece 106 to and fromthe bottom press die 104 of the stamping press workstations 102.

In order to change the end effector tooling 114 for various shapes andforms of workpieces 106, the automatic tool changing device 112 providesfor the automatic changing of the end effector tooling 114 on the freeend of the automated transforming tooling assembly 110. The automatictool changing device 112 provides a quick-change tooling receiver 118 onthe free end of the automated transforming tooling system tooling 110opposite the base 116. The quick-change tooling receiver 118 releasablyengages a quick-change tooling adapter 117 on the end effector tooling114 to allow the desired end effector tooling 114 to be engaged with theautomated transforming tooling assembly 110 for the proper workpiece106. Since each different shaped workpiece 106 requires its own shapedstamping press dies, the bottom press die 104 is designed to hold andstore the end effector tooling 114 required to engage the particularworkpiece 106 associated with the stamping press die. Although thedrawings of the present disclosure show the end effector tooling 114being held and stored by the bottom press die 104, it should be notedthat the top press die may also or alternatively hold and store one ormore of the end effector tooling 114. Thus, when the stamping press diesare exchanged in the stamping press workstation 102 to produce adifferent shaped workpiece 106, the end effector tooling 114 necessaryto engage and secure the workpiece 106 by the automated transformingtooling assembly 110 is secured to or stored in the bottom press die 104and/or the top press die. This allows the automated transforming toolingsystem tooling 110 to engage the end effector tooling 114 upon thepresentation of a new stamping press die in the stamping pressworkstation 102 of the stamping press.

The end effector tooling 114 may be stored in or secured to the bottompress die 104 using several different configurations. In a firstembodiment of the automated tool changing device 112 as seen in FIGS.1-4 , a substantially L-shaped bracket 130 has a long side 131 of theL-shaped bracket 130 connected to an outer surface of the bottom pressdie 104 such that a short side 133 of the L-shaped bracket 130 extendsoutward away from the bottom press die 104. The short side 133 of theL-shaped bracket 130 has an open-ended slot 132 formed therein forreceiving and holding a quick-change tooling adapter 117 connected tothe end effector tooling 114. In a non-limiting disclosure, the shortside 133 of the L-shaped bracket 130 defining the open-ended slot 132may secure the quick-change tooling adapter 117 on the end effectortooling 114 in the open-ended slot 132 by providing a friction fit, asnap fit, or a spring bias fit between the L-shaped bracket 130 and thequick-change tooling adapter 117 on the end effector tooling 114. Theend effector tooling 114 need only be raised and lowered into theopen-ended slot 132 when unloading and loading the end effector tooling114 into the L-shaped bracket 130 on the bottom press die 104.

When the end effector tooling 114 is secured and stored by the L-shapedbracket 130, the end effector tooling 114 is exposed outside of thebottom press die 104. A pair of closed ended slots 134 are formed in theshort side 133 of the L-shaped bracket 130 and are positioned on eachside of the open-ended slot 132, wherein the close ended slots 134 areopen toward the transfer press rails 108, 140. The quick-change toolingreceiver 118 mounted on the end of the automated transforming toolingassembly 110 has a pair of locating rods 136 that extend along the sidesof the quick-change tooling receiver 118 to engage the close ended slots134 in the L-shaped bracket 130. The closed ended slots 134 receive thelocating rods 136 on the quick-change tooling receiver 118 to assist inpositioning the quick-change tooling receiver 118 relative to thequick-change tooling adapter 117 on the end effector tooling 114 storedon the L-shaped bracket 130. The quick-change tooling adapter 117 andthe quick-change tooling receiver 118 have a male/female coupling suchthat the quick-change tooling receiver 118 and the quick-change toolingadapter 117 can easily engage and disengage the end effector tooling 114to and from the automated transforming tooling assembly 110. In anon-limiting disclosure, the quick-change tooling receiver 118 and thequick-change tooling adapter 117 may use any type of quick-changetooling means to engage and disengage the automated transforming toolingassembly 110 from the end effector tooling 114, such as spring actuated,ball actuated, rotationally actuated, friction fit, snap fit, etc. Inaddition, the quick-change tooling receiver 118 and quick-change toolingadapter 117 have electrical and pneumatic couplings that allow forelectrical and pneumatic power to be transferred and supplied to the endeffector tooling 114 from the automated press transfer tooling assembly110.

In a second embodiment of the automated tool changing device 112 asfurther seen in FIGS. 1-4 , the end effector tooling 114 is secured andstored inside a recess 138 provided in the bottom press die 104. Thelong side 131 of the L-shaped bracket 130 is connected to and disposedwithin the recess 138 of the bottom press die 104, and the short side133 of the L-shaped bracket 130 is exposed just outside the bottom pressdie 104. The end effector tooling 114 is secured in the open-ended slot132 in the short side 133 of the L-shaped bracket 130 as previouslydescribed such that the end effector tooling 114 is disposed within therecess 138 in the bottom press die 14 when not in use. The quick-changetool receiver 118 of the automated transforming tooling assembly 110engages the quick-change tool adapter 117 on the end effector tooling114 in the same manner as previously described in the first embodimentof the automated tool changing device 112. The recess 138 in the bottompress die 104 allows the end effector tooling 114 to be protected duringtransport and storage of the bottom press die 104; however, thecondition and type of the end effector tooling 114 cannot be viewed bythe operator without removing the end effector tooling 114 from therecess 138 provided in the bottom press die 104.

In a third embodiment of the automated tool changing device 112 whereinthe transfer press rail 108 is mounted overhead of the bottom press die104 as seen in FIGS. 6-9 , the long side 131 of the L-shaped bracket 130is connected to and mounted at an angle from an outer surface of thebottom press die 104. The L-shaped brackets 130 extend inward toward thetransfer press rail 108 so that the transfer press tooling assembly 110can access the end effector tooling 114 stored on the L-shaped brackets130. The quick-change tool receiver 118 of the automated transformingtooling assembly 110 and the quick-change tool adapter 117 of the endeffector tooling 114 operates in the same manner as previously describedin the first and second embodiments of the automatic tool changingdevice 112.

As for the transfer press rail 140 being connected to a roboticmanipulator 142 as shown in FIG. 10 , the end effector tooling 114 maybe mounted to, held to, or stored in the bottom press die 104 in any ofthe manners described in the three embodiments noted above. Thus, thequick-change tool adaptor 118 on the transfer press tooling assembly 110of the transfer press rail 140 of the robotic manipulator 142 can accessthe quick-change tool adapter 117 of the end effector tooling 114 in thebottom press die 104 in any of the three embodiments noted above.

In operation, the automated transforming tooling system 100 may beutilized in conjunction with various types of manufacturing, assembling,and handling operations. In a nonlimiting disclosure, the workpiece 106is loaded into the manufacturing, assembling, or handling operation, andthe user inputs the particular model or configuration of the workpiece106 into the CPU, programmable controller, or computer of the automatedtransforming tooling system 100. Other means may be utilized tocommunicate the model or configuration of the workpiece 106 to theautomated transforming tooling system 100 as noted below. The CPU,programmable controller, or computer then sends a positioning signal tothe automated transforming tooling assemblies 110. The joints 128 of theautomated press transfer tooling assemblies 110 unlock, the motors inthe joints 128 become actuated to synchronize the movement of the joints128 and the links 126 to move and align the quick-change toolingreceiver 118 at the free end of the automated transfer press toolingassemblies 110 with the quick-change tooling adapter 117 of the endeffector tooling 114, and the joints 128 lock. The quick-change toolingreceiver 118 engages the quick-change tooling adapter 117 on the endeffector tooling 114, and the CPU, programmable controller, or computerthen instructs the automated transforming tooling assemblies 110 toproceed in the same manner as noted above to the proper locations forallowing the end effector tooling 114 to engage the workpiece 106. Theend effector tooling 114 engages the workpiece 106 at predeterminedlocations on the workpiece 106, and automated transforming toolingsystem 100 shuttles the workpiece 106 to the desired location. Once theworkpiece 106 is properly placed into its destination, the end effectortooling 114 releases the workpiece 106, and the automated transformingtooling system 100 cycles back to the previous workstation 102 orposition wherein the end effector tooling 114 engages the next workpiece106. When it is time to produce a different model or differently shapedworkpiece 106, the operator instructs the CPU, programmable controller,or computer of the automated transforming tooling system 100 that aworkpiece 106 change is required, and the CPU, programmable controller,or computer instructs the automated transforming tooling assemblies 110to place the end effector tooling 114 back onto the tool changer 112wherein the cycle begins again.

As a further example of the method and apparatus in operation, theautomated transforming tooling system 100 may be utilized in conjunctionwith a stamping press die loaded into a stamping press workstation 102of a stamping press assembly in order to stamp a particular workpiece106 as previously described. Regardless of the embodiment, each bottompress die 104 die has the necessary end effector tooling 114 mounted tothe L-shaped brackets 130 to shuttle the respective workpiece 106 to thesuccessive stamping press workstations 102. The user inputs theparticular model of the workpiece 106 into the CPU, programmablecontroller, or computer of the automated transforming tooling system100. Other non-limiting means may be used to communicate the model ofthe workpiece 106 to the CPU, programmable controller, or computer, suchas having a microprocessor chip (not shown) or bar code (not shown)placed on the bottom press die 104 wherein a microprocessor reader orbar code scanner, respectfully, identifies the particular workpiece 106and communicates the same to the CPU, programmable controller, orcomputer of the automated transforming tooling system 100. Once the CPU,programmable controller, or computer is aware of the model of theworkpiece 106 and the bottom press die 104 that is loaded into thestamping press workstation 102 of the stamping press, the CPU,programmable controller, or computer sends a positioning signal to theautomated transforming tooling assemblies 110. The joints 128 unlock,the motors in the joints 128 of the automated press transfer toolingassemblies 110 become actuated to synchronize the movement of the joints128 and the links 126 to move and align the quick-change toolingreceiver 118 at the free end of the automated transfer press toolingassemblies 110 with the quick-change tooling adapter 117 of the endeffector tooling 114 mounted on the bottom press die 104, and the joints128 then lock. The quick-change tooling receiver 118 engages thequick-change tooling adapter 117 on the end effector tooling 114, andthe CPU, programmable controller, or computer then instructs theautomated transforming tooling assemblies 110 to proceed to the properlocations for allowing the end effector tooling 114 to engage theworkpiece 106. Movement of the automated transforming tooling assemblies110 occur in the same manner as previously described. The end effectortooling 114 then engages the workpiece 106 at predetermined locations onthe workpiece 106, and the transfer press rail(s) 108, 140 begin tocycle or move by rising upward away from the bottom press die 104thereby raising the automated transforming tooling assemblies 110 on thetransfer press rail(s) 108, 140 and lifting the workpiece 106 from thebottom press die 104. Once the workpiece 106 is clear from the bottompress die 104, the transfer press rail(s) 108, 140 indexes or moveshorizontally to an adjacent stamping press workstation 102 where thenext successive stamping operation will occur. The transfer pressrail(s) 108, 140 positions the workpiece 106 over the bottom press die104 of the adjacent stamping press workstation 102, and the transferpress rail(s) 108, 140 lowers the workpiece 106 into the bottom pressdie 104 of the adjacent stamping press workstation 102. Once theworkpiece 106 is properly placed on the bottom press die 104, the endeffector tooling 114 releases the workpiece 106, and the transfer pressrail(s) 108, 140 cycles back to the previous stamping press workstation102 wherein the end effector tooling 114 engages the next workpiece 106.When it is time to produce a different model or differently shapedworkpiece 106, the operator instructs the CPU, programmable controller,or computer of the automated transforming tooling system 100 that astamping press die change is required, and the CPU, programmablecontroller, or computer instructs the automated transfer press toolingassemblies 110 to place the end effector tooling 114 back onto theL-shaped brackets 130 of the bottom press die 104. Once the end effectortooling 114 is secured to the L-shaped brackets 130 of the bottom pressdie 104, the bottom press die 104 is removed from the stamping pressworkstation 102, and a different bottom press die 104 is loaded into thestamping press workstation 102 wherein the cycle begins again.

While the disclosure has been made in connection with what is presentlyconsidered to be the most practical and preferred embodiment, it shouldbe understood that the disclosure is intended to cover variousmodifications and equivalent arrangements.

What is claimed is:
 1. An automated transforming tooling systemapparatus for shuttling a workpiece to and from an industrial operation,comprising: a workstation for complementarily engaging and securing theworkpiece, and the workstation having at least one holder for removablysecuring at least one end effector tool to the workstation; at least onetransfer bar positioned adjacent the workstation and movable withrespect to the workstation; at least one automated transforming toolingassembly connected to the at least one transfer bar wherein the at leastone automated transforming tooling assembly has a plurality of linksadjustably connected by motorized joints to automatically position theautomated transforming tooling assembly in a predetermined position; andan automated tool changer connected to a free end of each of the atleast one automated transforming tooling assembly, and the automatedtool changer releasably engaging the at least one end effector toolbetween a disengaged position, wherein the at least one end effectortool is disengaged from the automated tool changer and secured in the atleast one holder of the workstation, and an engaged position, whereinthe at least one end effector tool is engaged by the automated toolchanger such that the at least one automated transforming toolingassembly moves toward the workpiece to allow the at least one endeffector tool to engage the workpiece and move the workpiece to and fromthe workstation through the movement of the transfer bar.
 2. Theautomated transforming tooling system apparatus as stated in claim 1,further comprising: a manipulator connected to the transfer bar formoving the transfer bar between predetermined positions.
 3. Theautomated transforming tooling system apparatus as stated in claim 1,further comprising: a central processing unit in communication with theat least one transforming tooling assembly, and the central processingunit controlling the operation of the motorized joints to determine theposition of the links.
 4. The automated transforming tooling systemapparatus as stated in claim 3, further comprising: the at least onetransforming tooling assembly each having clutches to lock and unlockthe motorized joints from moving prior to, during, and after themovement of the motorized joints.
 5. The automated transforming toolingsystem apparatus as stated in claim 1, further comprising: an automatedtool changing device for releasably connecting each of the at least onetransforming tooling assembly to the end effector tool.
 6. The automatedtransforming tooling system apparatus as stated in claim 5, furthercomprising: the automated tool changing device having a quick-changetooling receiver connected to each of the at least one transformingtooling assembly and a quick-change tooling adapter connected to the endeffector tooling wherein the quick-change tooling receiver and thequick-change tooling adapter may releasably engage one another toreleasably connect the end effector tooling to the at least onetransforming tooling assembly.
 7. The automated transforming toolingsystem apparatus as stated in claim 1, further comprising: the at leastone holder on the workstation having a bracket with an open-ended slotfor removably receiving and holding the end effector tooling.
 8. Theautomated transforming tooling system apparatus as stated in claim 7,further comprising: a recess formed within the workstation wherein atleast a portion of the bracket is disposed within the recess.
 9. Theautomated transforming tooling system apparatus as stated in claim 2,the manipulator further comprising: a programmable robotic arm.
 10. Anautomated transforming tooling system method for shuttling a workpieceto and from an industrial operation, the steps comprising:complementarily engaging and securing the workpiece to a workstation;securing at least one end effector tool in a holder connected to theworkstation; movably positioning at least one transfer bar with respectthe workstation; connecting at least one automated transforming toolingassembly to the at least one transfer bar wherein the at least oneautomated transforming tooling assembly has a plurality of linksadjustably connected by motorized joints to automatically position theautomated transforming tooling assembly in a predetermined position; andconnecting an automated tool changer to a free end of each of the atleast one automated transforming tooling assembly, and releasablyengaging the automated tool changer to the at least one end effectortool between a disengaged position, wherein the at least one endeffector tool is disengaged from the automated tool changer and securedin the at least one holder of the workstation, and an engaged position,wherein the at least one end effector tool is engaged by the automatedtool changer such that the at least one automated transforming toolingassembly moves toward the workpiece to allow the at least one endeffector tool to engage the workpiece and move the workpiece to and fromthe workstation through the movement of the transfer bar.
 11. Theautomated transforming tooling method apparatus as stated in claim 10,further comprising the steps of: connecting a manipulator to thetransfer bar for moving the transfer bar between predeterminedpositions.
 12. The automated transforming tooling system method asstated in claim 10, further comprising the steps of: communicatingsignals from a central processing unit to the at least one transformingtooling assembly for controlling the operation of the motorized jointsand determining the position of the links.
 13. The automatedtransforming tooling system method as stated in claim 12, furthercomprising the steps of: providing the at least one transforming toolingassembly with clutches to lock and unlock the motorized joints frommoving prior to, during, and after the movement of the motorized joints.14. The automated transforming tooling system method as stated in claim10, further comprising the steps of: releasably connecting an automatedtool changing device to each of the at least one transforming toolingassembly and to the end effector tool.
 15. The automated transformingtooling system method as stated in claim 10, further comprising thesteps of: the automated tool changing device having a quick-changetooling receiver connected to each of the at least one transformingtooling assembly and a quick-change tooling adapter connected to the endeffector tooling wherein the quick-change tooling receiver and thequick-change tooling adapter may releasably engage one another toreleasably connect the end effector tooling to the at least onetransforming tooling assembly.
 16. The automated transforming toolingsystem method as stated in claim 10, further comprising the steps of:providing the at least one holder on the workstation with a brackethaving an open-ended slot for removably receiving and holding the endeffector tooling.
 17. The automated transforming tooling system methodas stated in claim 16, further comprising the steps of: forming a recesswithin the workstation wherein at least a portion of the L shapedbracket is disposed within the recess.
 18. The automated transformingtooling system method as stated in claim 11, further comprising thesteps of: providing a programmable robotic arm as the manipulator.